Image Processing Techniques for Multi-Sensor Inspection of Pipe Interiors

ABSTRACT

An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. provisional patent applicationSer. No. 62/643,482, entitled “IMAGE PROCESSING TECHNIQUES FORMULTI-SENSOR INSPECTION OF PIPE INTERIORS” and filed on 15 Mar. 2018,the contents of which are incorporated by reference herein.

BACKGROUND

Municipal water and sewer pipes are important infrastructure assets forcities and municipalities. These assets need to be inspected in order toplan and implement repair, maintenance, and replacement.

A great deal of pipe data is captured in still images or video, e.g.,using cameras to record information from the visible spectrum of light.However, other data can provide additional information beyond what isvisible to the naked eye. For example, acoustic, ultraviolet (UV),laser, and infrared (IR) imaging have been utilized to identify detailsrelated to pipe topology or condition. In this respect, multi-sensorinspection (MSI) techniques have gained increased attention since morethan one sensor type can be employed during the inspection by using amulti-sensor pipe inspection robot. Thus, MSI pipe inspection data oftenprovides a greater understanding of the condition of the interior of apipe because more than one condition assessment data type is availablefor review.

BRIEF SUMMARY

In summary, one embodiment provides a method, comprising: obtaining,from a multi-sensor pipe inspection robot that traverses through theinterior of a pipe, two or more sets of condition assessment data forthe interior of the pipe during a single pass through the pipe interior;the two or more sets of condition assessment data comprising a firstdata type obtained using a first sensor type and a second data typeobtained using a second sensor type; selecting, using a processor, animage processing technique based on a pipe feature identified using oneor more of the first data type and the second data type; and forming,using the processor, an image of the interior of the pipe byimplementing the selected image processing technique.

Another embodiment provides a pipe inspection system, comprising: amulti-sensor pipe inspection robot that traverses through the interiorof a pipe and obtains two or more sets of condition assessment data forthe interior of the pipe during a single pass through the pipe interior;the multi-sensor pipe inspection robot comprising a first sensor typeand a second sensor type; the two or more sets of condition assessmentdata comprising a first data type obtained using the first sensor typeand a second data type obtained using the second sensor type; and aprocessor that: selects an image processing technique based on a pipefeature identified using one or more of the first data type and thesecond data type; and forms an image of the interior of the pipe byimplementing the selected image processing technique.

A further embodiment provides a method, comprising: obtaining, from amulti-sensor pipe inspection robot that traverses through the interiorof a pipe, structured laser light sensor data and Light Detection andRanging (LIDAR) sensor data for the interior of the pipe; identifying,using a processor, a pipe feature using one or more of the structuredlaser light sensor data and the LIDAR sensor data; selecting, using aprocessor, an image processing technique based on the pipe featureidentified, wherein the selecting uses a stored association between thepipe feature and an image processing technique; and forming, using theprocessor, an image of the interior of the pipe by implementing theselected image processing technique.

The foregoing is a summary and thus may contain simplifications,generalizations, and omissions of detail; consequently, those skilled inthe art will appreciate that the summary is illustrative only and is notintended to be in any way limiting.

For a better understanding of the claimed embodiments, reference is madeto the following description and the accompanying drawings.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1(A-B) illustrates example multi-sensor inspection (MSI) pipeinspection robots.

FIG. 2 illustrates an example MSI pipe inspection robot traversingthrough the interior of a pipe.

FIG. 3 illustrates an example method of image processing of MSI pipedata.

FIG. 4 illustrates an example method of image processing of MSI pipedata.

FIG. 5 illustrates an example system.

DETAILED DESCRIPTION

It will be readily understood that the components of the embodiments, asgenerally described and illustrated in the figures herein, may bearranged and designed in a wide variety of different configurations inaddition to the described example embodiments. Thus, the following moredetailed description of the example embodiments, as represented in thefigures, is not intended to limit the scope of the claims but is merelyrepresentative of those embodiments.

Reference throughout this specification to “embodiment(s)” (or the like)means that a feature, structure, or characteristic described inconnection with the embodiment is included in at least one embodiment,which may or may not be claimed. Thus, appearances of the phrases“according to embodiments” or “an embodiment” (or the like) in variousplaces throughout this specification are not necessarily all referringto the same embodiment.

Furthermore, the described features, structures, or characteristics maybe combined in any suitable manner in one or more embodiments. In thefollowing description, numerous specific details are provided to give athorough understanding of example embodiments. One skilled in therelevant art will recognize, however, that aspects can be practicedwithout one or more of the specific details, or with other methods,components, materials, etc. In other instances, well-known structures,materials, or operations are not shown or described in detail to avoidobfuscation.

Multi-sensor inspection (MSI) data is useful for understanding thecondition of a pipe because it gives multiple data sources for viewingthe pipe's interior. Further, in some cases, e.g., if ground penetratingradar is used, the environment around the pipe may be examined, addingfurther context for evaluating the pipe's condition. However, MSI datais difficult to collect, process and present. This is due at least inpart to the imprecise nature of the data collection sensors.

By way of example, each sensor type, e.g., a Light Detection and Ranging(LIDAR) sensor, has a signal to noise ratio. In some cases, the noise inthe sensor data can be significant, particularly when attempting toimage certain features, e.g., cracks in a pipe wall, erosion in the pipewall, etc. By way of specific example, a given LIDAR sensor may haveabout 25 mm of error in its reported data. That is, a LIDAR data pointobtained for a location of the interior of the pipe wall may be as muchas 25 mm off from the actual location of that point, in terms ofdistance from the LIDAR sensor. As may be appreciated, this can be asignificant source of error in the data when attempting to imageimperfections within the pipe's interior, such as a crack or hole in thepipe wall. This is particularly true in smaller pipes, e.g., about 24inches in diameter and below. Such error in the sensor data leads toreduced accuracy and therefore imprecision in the images formed from thesensor data, e.g., a laser or sonar scan image of the interior of thepipe.

A typical approach to this technical problem is to repeat themeasurement cycle to gain additional sensor data. That is, the pipeinspection robot is sent through the interior of the pipe multiple timesof for multiple passes. This increases the amount of data that isavailable and consequently increases the accuracy of the images of thepipe's interior. As is clear, this approach significantly increases thetime, complexity, and cost of the inspection process.

Accordingly, an embodiment facilitates a reduced pass, e.g., a singlepass, inspection technique for forming images of the pipe's interiorwith suitable accuracy. In an embodiment, the imaging processing isimproved by adjusting the image processing technique applied to thesensor data collected using an MSI pipe inspection robot. That is, giventhat more than one type of sensor data is available, one type of sensordata may be used to improve another type of sensor data, without theneed to undergo multiple passes through the interior of the pipe.

In an embodiment, a single pass of the pipe inspection robot can be usedto form improved images of the interior of the pipe by intelligentlyselecting the image processing technique applied to the sensor datacollected in the single pass. In an embodiment, an image processingtechnique is selected on a feature-level basis. For example, anembodiment uses one of a plurality of the sensor data types to identifya pipe feature and selects an image processing method applied to anothersensor data type based on the pipe feature type. This leverages the factthat different statistical methods are more appropriate for formingimages of certain features. The features can be automatically identifiedwithin the data based on the scan data. Once a feature of interest isidentified, e.g., using structured laser light scan data, apredetermined image processing technique is applied for other scan data,e.g., LIDAR data associated with that area of the pipe's interior. Thus,an image processing technique may be selected based on the featureidentification, e.g., manhole cover, crack in the pipe's wall, etc. Thisresults in an improved image being formed with fewer data collectionpasses.

The description now turns to the figures. The illustrated exampleembodiments will be best understood by reference to the figures. Thefollowing description is intended only by way of example and simplyillustrates certain selected example embodiments.

Referring to FIG. 1(A-B), example MSI pipe inspection robots 110 a, 110b are illustrated. The example MSI pipe inspection robots 110 a, 110 btraverse through the interior of a water or sewer pipe, e.g., a 24-inchdiameter pipe. As will be readily appreciated, the example MSI pipeinspection robots 110 a, 110 b may take other forms. In the exampleillustrated in FIG. 1A, a tracked MSI pipe inspection robot 110 a isillustrated. The tracked MSI pipe inspection robot 110 a may correspondto a form of MSI inspection robot used by RedZone Robotics, Inc., ofPittsburgh, Pa., USA, under the name RESPONDER. As illustrated, the MSIinspection robot 110 a includes a variety of sensor types, two of whichare indicated at 120 a, 130 a. The sensor types may vary, and by way ofexample sensors 120 a, 130 a may be selected from the group includingthree-dimensional 3D LIDAR sensor(s), sonar unit(s), closed-circuittelevision (CCTV) with virtual pan, tilt and zoom, gas sensor(s), andtemperature sensor(s). Thus, MSI pipe inspection robot 110 a may includeimaging sensors including at least LID AR units, sonar units, andvisible light cameras.

In the example of FIG. 1B, the MSI pipe inspection robot 110 b takes theform of a floating raft with multiple units connected together in atrain. The MSI pipe inspection robot 110 b therefore floats on top ofwater within the pipe's interior. The raft type MSI pipe inspectionrobot 110 b may correspond to a form of MSI inspection robot used byRedZone Robotics, Inc., of Pittsburgh, Pa., USA, under the nameMDPROFILER. As with the MSI pipe inspection robot 110 a of FIG. 1A, theMSI pipe inspection robot 110 b of FIG. 1B includes a variety ofsensors. For example, at least two sensor types 120 b, 130 b may beincluded with MSI pipe inspection robot 110 b. The sensor types mayvary, and by way of example sensors 120 b, 130 b may be selected fromthe group including structured laser light sensor(s), sonar unit(s), andclosed-circuit television (CCTV) with virtual pan, tilt and zoom. Thus,MSI pipe inspection robot 110 b may include imaging sensors including atleast sonar unit(s), and structured laser light sensor(s).

Referring to FIG. 2, an MSI pipe inspection robot 210, which includesmultiple sensor types 220, 230, traverses through the interior of a pipe200, e.g., through a municipal water or sewer pipe in the directionindicated by the hollow arrow within the interior of the pipe 200. Oneof the sensors, e.g., 220, may be a LIDAR unit, whereas another of thesensor types, e.g., 230, may be a laser sensor.

Each sensor may be a time of flight sensor type. To obtain data pointsrelated to the distance between the sensors 220, 230 and the interiorwall surface of the pipe 200, a time for a sensor output (e.g., laserlight) that travels at a known speed to return to a detector is used,such that an image may be constructed from the distance data. The lasersensor, e.g., 230, may produce a ring of laser measurements, e.g., forthe upper ⅔ of the pipe or the entire interior of the pipe, depending onwhether the pipe is partially filled with water. The laser sensor 230may take radial measurements in predetermined angular intervals, e.g.,every few degrees in a circle. Similarly, the other sensor type, e.g.,sensor 220, may take time of flight measurements (e.g., LIDARmeasurements), again in order to measure distance between the sensor 220and the interior surface of the pipe wall. The sensors 220, 230 may thusoperate to calculate distance using time of flight, i.e., time toreflect to a detector, in order to build an image of the interior of thepipe 200.

As described herein, conventionally the MSI pipe inspection robot 210would be passed through the interior of the pipe 200 multiple times,i.e., for multiple passes. This is done to improve the imaging of theinterior of the pipe 200 for each sensor type 220, 230. For example, dueto noise included in the data points obtained by the sensors 220, 230,each sensor may need to make more than one pass through the pipe 200 inorder to collect enough data of sufficient quality to form an image thatis sufficiently precise or accurate. Therefore, multiple rounds of datacollection are typically required to form a suitable image of theinterior of the pipe for each type of image, e.g., laser scan image,LIDAR based image, or combination image (using multiple data types,e.g., one for the top of the interior of the pipe 200 and one for thebottom of the interior of the pipe 200). This is particularly so inareas where the regular geometry of the interior of the pipe 200 isdisturbed, e.g., in the area of a crack or break within the pipe, asindicated at 240, in the area of a manhole opening, as indicated at 250,etc.

Accordingly, and referring to FIG. 3 and FIG. 4, an embodimentimplements an intelligent image processing technique to improve theimage quality using a reduced amount of data collection. By way ofexample, an embodiment may intelligently leverage multiple data types,collected from multiple sensors, to improve a given sensor's resultantimage, without collecting additional data with that particular sensor.

By way of specific example, as illustrated in FIG. 3, an embodimentobtains MSI pipe inspection data at 301. As described herein, thisincludes collection of pipe inspection data using multiple sensors,which may include sensors of different types, e.g., LIDAR units, sonarunits, laser scanners, etc.

One of the sensors reports data that may be used to identify a feature,as indicated at 302. For example, a laser sensor that collectsstructured laser light data may indicate that a feature of interest ispresent, e.g., a crack in the wall of the pipe. The identification ofthe feature may correspond, for example, to a data signature that isidentified in real-time or near real-time. The data signature for thefeature may be learned. The data signature may be learned in a varietyof ways. For example, the data signature may be matched using astatistical analysis, or may be classified using a classificationscheme, for example a machine learning algorithm. Alternatively, thefeature may be manually detected by reviewing processed data by a humanoperator.

Once the feature is identified at 302, which may include classificationof an image or image feature by matching the image or image feature to apredetermined feature among a predetermined feature set, an embodimentdetermines if there is an image processing technique associated with thefeature, as indicated at 303. The determination made at 303 may be asimple table lookup, e.g., a spline interpolation technique or a nearestneighbor interpolation technique is associated with the given feature,such as a crack, a manhole opening, etc. Alternatively, thedetermination made at 303 may be more complex, e.g., the determinationmade at 303 may itself be the result of a classification, for example inthe case where two or more candidate features are ranked, and/or wheretwo or more techniques are known to work for a candidate feature and areranked. In such case, a scoring method may be used to select the featuretype and/or the image processing technique. This process may befacilitated by an algorithm that employs machine learning to resolvefeature identification and/or resolve the best technique for imageprocessing of a feature type. Alternatively, or in addition, a humanoperator may provide input that influences or chooses a feature type,assists in feature identification, and/or selects an image processingtechnique.

If no association between a pipe feature and an image processingtechnique is made at 303, e.g., an unknown pipe feature is encountered,a regular geometry of the pipe interior is identified, etc., then afirst image processing technique may be applied, as indicated at 304.The first image processing technique may be a default or standard imageprocessing technique applied to the data type in question. For example,if regular pipe geometry is detected in low-resolution LIDAR data with+/−25 mm error, and this is confirmed with another data type, e.g.,structured laser data measurements of the same area of the interior ofthe pipe, a first image processing technique may be utilized at 304.

However, if a pipe feature is encountered that is associated with animage processing technique, as determined at 303, then an imageprocessing technique may be selected based on the pipe feature, asindicated at 305, and use of the second image processing technique maybe implemented at 306. By way of example, if a sensor data type, e.g.,structured laser light data, indicates that a crack is present in thewall of the pipe at a particular location, the corresponding LIDAR datafor this location may be obtained, and thereafter subjected to thesecond image processing technique, as indicated at 306. This facilitatesimproving the quality of the resultant image that may be formed at 307using the data type in question, e.g., LIDAR data.

Referring briefly back to FIG. 2, consider the following specific,non-limiting example. While the pipe inspection robot 210 is traversingthrough the interior of the pipe 200, a crack 240 may be encountered. Ifthe first sensor type 220 is a LIDAR unit, the crack 240 may goundetected or result in a low-resolution image of the crack 240 using astandard image processing technique, e.g., a spline interpolation orother technique that results in a smoothed, curved surface. As such,when viewing the image using a single data pass of LIDAR data, the areaof the pipe 200 including the crack 240 may appear as a smalldepression. However, if the second sensor type 230 is, e.g., astructured laser light sensor, it may have less noise or error whendetecting a feature such as crack 240. Therefore, when sensor type 230passes by the area of the pipe 200 including crack 240, the pipefeature, in this case crack 240, may be detected based on a featuresignature in the laser scan data and noted. Such identification ornotation may then be used to improve the LIDAR data by changing (whichmay include initially selecting) the image processing technique appliedto the LIDAR data associated with the region of interest, e.g., within apredetermined distance of the crack 240. For example, processing of theLIDAR data using a spline interpolation method may be switched toprocessing the LIDAR data using a nearest neighbor technique for thatarea.

Turning to FIG. 4, an embodiment may utilize more than one type of MSIinspection data type to produce an image of a pipe's interior. Asillustrated, an embodiment obtains MSI pipe inspection data at 401 andthereafter identifies a pipe feature using the MSI pipe inspection dataat 402, e.g., using a feature signature. An image of the pipe featuremay be formed using first and second types of MSI pipe inspection dataindividually, as indicated at 403, 404. That is, a first image and asecond image of a pipe feature, e.g., images of a region of the pipe'sinterior wall inclusive of a feature, may be formed independently withthe respective types of MSI pipe inspection data.

An embodiment may improve the images of the pipe feature by usingalternative data types. For example, after an image is formed using afirst type of pipe inspection data at 403, that image may be re-formedby taking into account the image of the same pipe feature formed at 404using the second type of MSI data. As an example, a LIDAR image of apipe feature may be enhanced, e.g., the depth of a crack increased,using a laser scan image of the same pipe crack. This may beaccomplished using a variety of techniques, e.g., a change in aninterpolation technique utilized, a predetermined modification of pixelswithin an image based on the pixel values of the other image, asubstitution of a region of one image with another, etc. Thus, theresultant re-formed image produced at 405 may be a modified first orsecond image, or a combination of the first and second images, producedat 403 and 404, respectively.

It will be readily understood that certain embodiments can beimplemented using any of a wide variety of devices or combinations ofdevices. Referring to FIG. 5, an example system-on-chip (SoC) includedin a computer 500 is illustrated, which may be used in implementing oneor more embodiments. The SoC or similar circuitry outlined in FIG. 5 maybe implemented in a variety of devices in addition to the computer 500,for example similar circuitry may be included in a pipe inspection robot570 (which is an exploded view of the example MSI pipe inspection robotof FIG. 2), or another device or platform. In addition, circuitry otherthan a SoC may be utilized in one or more embodiments. The SoC of FIG. 5includes functional blocks, as illustrated, integrated onto a singlesemiconductor chip to meet specific application requirements.

The central processing unit (CPU) 510, which may include one or moregraphics processing units (GPUs) and/or micro-processing units (MPUs),includes an arithmetic logic unit (ALU) that performs arithmetic andlogic operations, instruction decoder that decodes instructions andprovides information to a timing and control unit, as well as registersfor temporary data storage. The CPU 510 may comprise a single integratedcircuit comprising several units, the design and arrangement of whichvary according to the architecture chosen.

Computer 500 also includes a memory controller 540, e.g., comprising adirect memory access (DMA) controller to transfer data between memory550 and hardware peripherals. Memory controller 540 includes a memorymanagement unit (MMU) that functions to handle cache control, memoryprotection, and virtual memory. Computer 500 may include controllers forcommunication using various communication protocols (e.g., I²C, USB,etc.).

Memory 550 may include a variety of memory types, volatile andnonvolatile, e.g., read only memory (ROM), random access memory (RAM),electrically erasable programmable read only memory (EEPROM), Flashmemory, and cache memory. Memory 550 may include embedded programs anddownloaded software, e.g., image processing software, pipe inspectionmission software, etc. By way of example, and not limitation, memory 550may also include an operating system, application programs, otherprogram modules, and program data.

A system bus permits communication between various components of thecomputer 500. I/O interfaces 530 and radio frequency (RF) devices 520,e.g., WIFI and telecommunication radios, are included to permit computer500 to send and receive data to remote devices using wired or wirelessmechanisms. The computer 500 may operate in a networked or distributedenvironment using logical connections to one or more other remotecomputers or databases. The logical connections may include a network,such local area network (LAN) or a wide area network (WAN) but may alsoinclude other networks/buses. For example, computer 500 may communicatedata with and between a pipe inspection robot 570 and other devices,e.g., a display screen, a heads-up display, VR googles, etc.

The computer 500 may therefore execute program instructions configuredto store and analyze MSI pipe inspection data, and perform otherfunctionality of the embodiments, as described herein. A user caninterface with (for example, enter commands and information) thecomputer 500 through input devices, which may be connected to I/Ointerfaces 530. A display or other type of device may also be connectedto the computer 500 via an interface selected from I/O interfaces 530,such as an output interface.

It should be noted that the various functions described herein may beimplemented using instructions stored on a memory, e.g., memory 550,that are transmitted to and executed by a processor, e.g., CPU 510.Computer 500 includes one or more storage devices that persistentlystore programs and other data. A storage device, as used herein, is anon-transitory storage medium. Some additional examples of anon-transitory storage device or medium include, but are not limited to,storage integral to computer 500, such as a hard disk or a solid-statedrive, and removable storage, such as an optical disc or a memory stick.

Program code stored in a memory or storage device may be transmittedusing any appropriate transmission medium, including but not limited towireless, wireline, optical fiber cable, RF, or any suitable combinationof the foregoing.

Program code for carrying out operations may be written in anycombination of one or more programming languages. The program code mayexecute entirely on a single device, partly on a single device, as astand-alone software package, partly on a device and partly on anotherdevice, or entirely on another device. In an embodiment, program codemay be stored in a non-transitory medium and executed by a processor toimplement any of the functions or acts specified herein. In some cases,the devices referenced herein may be connected through any type ofconnection or network, including a local area network (LAN) or a widearea network (WAN), or the connection may be made through other devices(for example, through the Internet using an Internet Service Provider),through wireless connections or through a hard wire connection, such asover a USB connection.

Pipe inspection robot(s) used for obtaining MSI pipe inspection data, asreferenced herein, may take a variety of forms and the examples shown inFIG. 1(A-B), FIG. 2 and FIG. 5 are non-limiting examples. The pipeinspection robot 570 of FIG. 5 is an autonomous MSI pipe inspectionrobot, similar to that illustrated in FIG. 2, shown in an exploded view.The MSI pipe inspection robot 570 includes a tractor module 573 withtracks 574, 575, situated beneath a riser 572 that supports a sensormodule 571. Sensor module 571 comprises sensors, e.g., laser, sonar,LIDAR, and/or visual sensors. Other sensor modules may be attached tothe riser 572 of the pipe inspection robot 570, in addition to or inlieu of sensor module 571. Other pipe inspection robots may be used,e.g., a raft or floating platform, a larger tracked platform, etc. In anembodiment, a plurality of pipe inspection robots may be used to obtainMSI pipe inspection data of various kinds.

Example embodiments are described herein with reference to the figures,which illustrate example methods, devices and program products accordingto various example embodiments. It will be understood that the actionsand functionality may be implemented at least in part by programinstructions. These program instructions (computer code) may be providedto a processor of a device to produce a special purpose machine, suchthat the instructions, which execute via a processor of the deviceimplement the functions/acts specified.

It is worth noting that while specific elements are used in the figures,and a particular ordering of elements has been illustrated, these arenon-limiting examples. In certain contexts, two or more elements may becombined, an element may be split into two or more elements, or certainelements may be re-ordered or re-organized as appropriate, as theexplicit illustrated examples are used only for descriptive purposes andare not to be construed as limiting.

As used herein, the singular “a” and “an” may be construed as includingthe plural “one or more” unless clearly indicated otherwise.

This disclosure has been presented for purposes of illustration anddescription but is not intended to be exhaustive or limiting. Manymodifications and variations will be apparent to those of ordinary skillin the art. The example embodiments were chosen and described in orderto explain principles and practical application, and to enable others ofordinary skill in the art to understand the disclosure for variousembodiments with various modifications as are suited to the particularuse contemplated.

Thus, although illustrative example embodiments have been describedherein with reference to the accompanying figures, it is to beunderstood that this description is not limiting and that various otherchanges and modifications may be affected therein by one skilled in theart without departing from the scope or spirit of the disclosure.

What is claimed is:
 1. A method, comprising: obtaining, from amulti-sensor pipe inspection robot that traverses through the interiorof a pipe, two or more sets of condition assessment data for theinterior of the pipe collected during a single pass through the interiorof the pipe; the two or more sets of condition assessment datacomprising a first data type obtained using a first sensor type and asecond data type obtained using a second sensor type; selecting, using aprocessor, an image processing technique based on a pipe featureidentified using one or more of the first data type and the second datatype; and forming, using the processor, an image of the interior of thepipe by implementing the selected image processing technique.
 2. Themethod of claim 1, wherein the image of the interior of the pipe isformed using the two or more sets of condition assessment data obtainedfrom the single pass of the pipe inspection robot through the pipeinterior.
 3. The method of claim 1, wherein the first data typecomprises structured laser light data and the second data type comprisesLight Detection and Ranging (LIDAR) data.
 4. The method of claim 3,wherein the selected image processing technique modifies aninterpolation technique used to process one or more of the first datatype and the second data type associated with the feature.
 5. The methodof claim 4, wherein the interpolation technique comprises a statisticaltechnique having a predetermined association with the feature.
 6. Themethod of claim 5, wherein the interpolation technique is selected fromthe group consisting of a nearest neighbor technique and a splinetechnique.
 7. The method of claim 1, wherein the image of the interiorof the pipe comprises a three-dimensional image.
 8. The method of claim1, wherein the selected image processing technique modifies a value of adata point of the first data type using a data point value of the seconddata type.
 9. The method of claim 7, wherein a modification isimplemented by substituting the value of the data point of the firstdata type with a newly calculated value.
 10. The method of claim 1,comprising transmitting the two or more sets of condition assessmentdata to a remote device.
 11. A pipe inspection system, comprising: amulti-sensor pipe inspection robot that traverses through the interiorof a pipe and obtains two or more sets of condition assessment data forthe interior of the pipe collected during a single pass through theinterior of the pipe; the multi-sensor pipe inspection robot comprisinga first sensor type and a second sensor type; the two or more sets ofcondition assessment data comprising a first data type obtained usingthe first sensor type and a second data type obtained using the secondsensor type; and a processor that: selects an image processing techniquebased on a pipe feature identified using one or more of the first datatype and the second data type; and forms an image of the interior of thepipe by implementing the selected image processing technique;
 12. Thepipe inspection system of claim 11, wherein the image of the interior ofthe pipe is formed using the two or more sets of condition assessmentdata obtained from the single pass of the pipe inspection robot throughthe pipe interior.
 13. The pipe inspection system of claim 11, whereinthe first sensor type comprises a structured laser light sensor and thesecond sensor type comprises a Light Detection and Ranging (LIDAR)sensor.
 14. The pipe inspection system of claim 13, wherein the selectedimage processing technique modifies an interpolation technique used toprocess one or more of the first data type and the second data typeassociated with the feature.
 15. The pipe inspection system of claim 14,wherein the interpolation technique comprises a statistical techniquehaving a predetermined association with the feature.
 16. The pipeinspection system of claim 15, wherein the interpolation technique isselected from the group consisting of a nearest neighbor technique and aspline technique.
 17. The pipe inspection system of claim 11, whereinthe image of the interior of the pipe comprises a three-dimensionalimage.
 18. The pipe inspection system of claim 11, wherein the pipeinspection robot comprises a powered track system.
 19. The pipeinspection system of claim 11, wherein the pipe inspection robotcomprises a raft platform.
 20. A method, comprising: obtaining, from amulti-sensor pipe inspection robot that traverses through the interiorof a pipe, structured laser light sensor data and Light Detection andRanging (LIDAR) sensor data for the interior of the pipe; identifying,using a processor, a pipe feature using one or more of the structuredlaser light sensor data and the LIDAR sensor data; selecting, using aprocessor, an image processing technique based on the pipe featureidentified, wherein the selecting uses a stored association between thepipe feature and an image processing technique; and forming, using theprocessor, an image of the interior of the pipe by implementing theselected image processing technique.